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CRS_commander.py
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CRS_commander.py
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#!/usr/bin/env python
# Coordinated Spline Motion and Robot Control Project
#
# Copyright (c) 2017 Olga Petrova <[email protected]>
# Advisor: Pavel Pisa <[email protected]>
# FEE CTU Prague, Czech Republic
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
#
# In 2017, project funded by PiKRON s.r.o. http://www.pikron.com/
''' Module provides functions for robot control via Mars 8 unit. '''
# based on code by P. Pisa
import sys
import time
import numpy as np
import serial
class Commander:
def __init__(self, robot, rcon=None):
"""
Commander constructor.
:param robot: Robot instance, e.g. robotBosch, robCRS97 or robCRS93.
:param rcon: Serial interface.
"""
self.robot = robot
self.rcon = rcon #type: serial.Serial
self.stamp = int(time.time() % 0x7fff)
self.last_trgt_irc = None
self.coordmv_commands_to_next_check = 0
self.coord_axes = None
def set_rcon(self, rcon):
"""
Set communication interface.
:param rcon: Serial interface.
"""
if self.rcon is not None:
self.rcon.close()
self.rcon = None
self.rcon = rcon
def send_cmd(self, cmd):
"""
Send command to command unit through serial interface.
:param cmd: Command to send.
"""
ba = bytearray(cmd, 'ascii')
self.rcon.write(ba)
def read_resp(self, maxbytes):
"""
Read response from command unit.
:param maxbytes: Max number of bytes to read.
"""
resp = self.rcon.read(maxbytes)
if resp is None:
return None
s = resp.decode("ascii")
s = s.replace("\r\n", "\n")
s = s.replace("\r", "\n")
return s
def irctoangles(self, a):
"""
Convert IRC to degrees.
:param a: IRC of angle.
:return: Degrees corresponding to IRC.
"""
j = np.atleast_2d(a).shape[1]
n = np.atleast_2d(a).shape[0]
if j != self.robot.DOF:
raise ValueError("Wrong number of joints (%d, should be %d)." % (j, self.robot.DOF))
b = np.divide((a - np.repeat(np.array([self.robot.hhirc]), n, axis=0)),
np.repeat(np.array([self.robot.degtoirc]), n, axis=0)) \
+ np.repeat(np.array([self.robot.hhdeg]), n, axis=0)
if n == 1:
return b[0]
else:
return b
def anglestoirc(self, a):
"""
Convert degrees to IRC.
:param a: Degrees of angle.
:return: IRC corresponding to degrees.
"""
j = np.atleast_2d(a).shape[1]
n = np.atleast_2d(a).shape[0]
if j != self.robot.DOF:
raise ValueError("Wrong number of joints (%d, should be %d)." % (j, self.robot.DOF))
b = np.multiply((a - np.repeat(np.array([self.robot.hhdeg]), n, axis=0)),
np.repeat(np.array([self.robot.degtoirc]), n, axis=0)) \
+ np.repeat(np.array([self.robot.hhirc]), n, axis=0)
if n == 1:
return np.rint(b[0])
else:
return np.rint(b)
def degtorad(self, d):
"""
Convert degrees to radians.
:param d: Angle in degrees.
:return: Angle in radians.
"""
return d * np.pi / 180.0
def radtodeg(self, d):
"""
Convert radians to degrees.
:param d: Angle in radians.
:return: Angle in degrees.
"""
return d * 180.0 / np.pi
def init_robot(self):
"""
Initialize robot. Function performs all necessary settings of control unit.
Initialization may require user to press ARM POWER button (placed on control unit).
"""
self.sync_cmd_fifo()
if hasattr(self.robot, 'REGPWRON') and self.robot.REGPWRON == 1:
self.send_cmd('REGPWRON:%i\n'%self.robot.REGPWRON)
print('Press ARM POWER button,\n')
if sys.version_info[0] < 3:
raw_input('press enter to continue...')
else:
input('press enter to continue...')
self.send_cmd('REGPWRFLG:%i\n'%self.robot.REGPWRFLG)
print('Resetting motors')
# Purge
self.send_cmd("PURGE:\n")
self.send_cmd("STOP:\n")
self.check_ready()
self.wait_ready()
self.set_speed_par(self.robot.defaultspeed)
self.set_acc_par(self.robot.defaultacceleration)
fields = ['REGME', 'REGCFG', 'REGP', 'REGI', 'REGD']
for f in fields:
param_list = getattr(self.robot, f, [])
if param_list:
for i in range(self.robot.DOF):
if self.robot.activemotors[i]:
self.send_cmd('%s%s:%i\n' % (f, self.robot.activemotors[i], param_list[i]))
if hasattr(self.robot, 'IDLEREL'):
self.send_cmd('IDLEREL:%i\n'%self.robot.IDLEREL)
if hasattr(self.robot, 'gripper_init'):
if self.robot.verbose:
print('Gripper init.')
self.robot.gripper_init(self)
if self.robot.description[:3] == 'CRS':
self.send_cmd('SPDTB:0,300\n')
def sync_cmd_fifo(self):
"""
Synchronize message queue.
"""
self.stamp = (self.stamp + 1) & 0x7fff
self.send_cmd('STAMP:%d\n' % self.stamp)
buf='\n'
while True:
buf += self.read_resp(1024)
i = buf.find('\n' + 'STAMP=')
if i < 0:
continue
s = '%d'%self.stamp
r = buf[i+7:]
j = r.find('\n')
if j < 0:
continue
r = r[0:j].strip()
if r == s:
break
def check_ready(self, for_coordmv_queue = False):
"""
Check robot is in "ready" state.
:param for_coordmv_queue: Boolean, whether to check state for coordinate movement message queue.
:return: Boolean, whether robot is ready or not.
"""
a = int(self.query('ST'))
s = ''
if a & 0x8:
s = 'error, '
if a & 0x10000:
s += 'arm power is off, '
if a & 0x20000:
s += 'motion stop, '
if s:
raise Exception('Check ready: %s.'%s[:-2])
if for_coordmv_queue:
return False if a & 0x80 else True
else:
return False if a & 0x10 else True
def set_speed_par(self, params, force=False):
"""
Set joint's speed parameters.
:param params: Minimal and maximal speed for motors.
:param force: Force set, ignores lower and upper bound of speed set in robot object.
"""
for i in range(self.robot.DOF):
if self.robot.activemotors[i] != '':
if np.imag(params[i]) or params[i] == 0: # relative speed
r = np.imag(params[i])
if r < 0 or r > 1:
raise Exception('Relative speed %i out of <0;1>'%i)
params[i] = round(self.robot.minspeed[i] * (1 - r) + self.robot.maxspeed[i] * r)
self.send_cmd('%s%s:%i\n'%('REGMS', self.robot.activemotors[i], params[i]))
elif not force and (params[i] < self.robot.minspeed[i] or params[i] > self.robot.maxspeed[i]):
# speed is not inside lower and upper bound
raise Exception('Speed %d is out of bound'%i)
else: # set the speed
self.send_cmd('%s%s:%i\n'%('REGMS', self.robot.activemotors[i], params[i]))
def set_acc_par(self, params, force=False):
"""
Set joint's acceleration parameters.
:param params: Minimal and maximal acceleration for motors.
:param force: Force set, ignores lower and upper bound of acceleration set in robot object.
"""
for i in range(self.robot.DOF):
if self.robot.activemotors[i] != '':
if np.imag(params[i]) or params[i] == 0: # relative acceleration
r = np.imag(params[i])
if r < 0 or r > 1:
raise Exception('Relative acceleration %i out of <0;1>'%i)
params[i] = round(self.robot.minacceleration[i] * (1 - r) + self.robot.maxacceleration[i] * r)
self.send_cmd('%s%s:%i\n'%('REGACC', self.robot.activemotors[i], params[i]))
elif not force and (params[i] < self.robot.minacceleration[i] or params[i] > self.robot.maxacceleration[i]):
# acceleration is not inside lower and upper bound
raise Exception('Acceleration %d is out of bound'%i)
else: # set the speed
self.send_cmd('%s%s:%i\n'%('REGACC', self.robot.activemotors[i], params[i]))
def init_communication(self):
"""
Initialize communication through serial interface.
"""
s = self.read_resp(1024)
self.send_cmd("\nECHO:0\n")
self.sync_cmd_fifo()
s = self.query('VER')
print('Firmware version : ' + s)
def set_int_param_for_axes(self, param, val, axes_list=None):
"""
Set parameter for a joint.
:param param: Parameter to set.
:param val: Value of parameter.
:param axes_list: List of joints to set parameters to.
"""
if axes_list is None:
axes_list = self.robot.control_axes_list
valstr = str(int(val))
for a in axes_list:
self.send_cmd(param + a + ':' + valstr + '\n')
def set_max_speed(self, val, axes_list=None):
"""
Set maximal speed of joints.
:param val: Maximal speeds for joints in axes_list.
:param axes_list: List of joints to set maximal speeds to.
"""
self.set_int_param_for_axes(axes_list=axes_list, param='REGMS', val=val)
def setup_coordmv(self, axes_list=None):
"""
Setup coordinate movement of joints in axes_list.
:param axes_list: List of joints.
"""
if axes_list is None:
axes_list = self.robot.coord_axes
self.wait_ready()
axes_coma_list = ','.join(axes_list)
self.send_cmd('COORDGRP:' + axes_coma_list + '\n')
self.wait_ready()
self.coord_axes = axes_list
self.last_trgt_irc = None
def throttle_coordmv(self):
"""
Throttle message queue for coordinate movement.
:return: Boolean whether the queue is throttled.
"""
throttled = False
if self.coordmv_commands_to_next_check <= 0:
self.coordmv_commands_to_next_check = 20
else:
self.coordmv_commands_to_next_check -= 1
return
while not self.check_ready(for_coordmv_queue = True):
if not throttled:
print('coordmv queue full - waiting')
throttled = True
return throttled
def coordmv(self, pos, min_time=None, relative=False, disc=5):
"""
Coordinate movement of joints.
:param pos: Position to move to.
:param min_time: Minimal time for the movement, if None movement is carried in minimal possible time.
:param relative: Boolean, whether movement is relative to previous (current) position.
:param disc: Discontinuity of movement, internal parameter, is to be found in control unit docs.
"""
self.throttle_coordmv()
self.send_cmd('COORDISCONT:%d'%disc + '\n')
cmd = 'COORDMV' if not relative else 'COORDRELMVT'
if (min_time is not None) and not relative:
cmd += 'T'
cmd += ':'
if (min_time is not None) or relative:
if min_time is None:
min_time=0
cmd += str(int(round(min_time)))
if len(pos) > 0:
cmd += ','
pos = [int(round(p)) for p in pos]
cmd += ','.join([str(p) for p in pos])
self.send_cmd(cmd + '\n')
if relative:
if self.last_trgt_irc is None:
raise ValueError("Relative movement is requested, but last_trgt_irc is None!")
pos = [p + t for p, t in zip(pos, self.last_trgt_irc)]
# pos = map(int.__add__, pos, self.last_trgt_irc)
self.last_trgt_irc = pos
def splinemv(self, param, order=1, min_time=None, disc=5):
"""
Spline movement.
:param param: Parameters of spline movement.
:param order: Order of spline.
:param min_time: Minimal time for the movement, if None movement is carried in minimal possible time.
:param disc: Discontinuity of movement, internal parameter, is to be found in control unit docs.
:return: Command for unit for specified parameters.
"""
self.throttle_coordmv()
self.send_cmd('COORDISCONT:%d' % disc + '\n')
param = [int(round(p)) for p in param]
cmd = 'COORDSPLINET'
if min_time is None:
min_time = 0
cmd += ':'
cmd += str(int(round(min_time)))
cmd += ','
cmd += str(int(round(order)))
cmd += ','
cmd += ','.join([str(p) for p in param])
self.send_cmd(cmd + '\n')
return cmd
def axis_get_pos(self, axis_lst=None):
"""
Get position of joints.
:return: Position of active joints.
"""
if axis_lst is None:
axis_lst = self.robot.coord_axes
resp = self.query('COORDAP')
try:
resp = np.array(map(int,resp.split(',')))
except:
print('Error responce', resp)
t = resp[0]
pos = resp[-6:]
return t, pos
def hard_home(self, axes_list=None):
"""
Robot hard homing. Returns joints in axes_list to home position.
:param axes_list: List of joints to home.
"""
# Hard-home
if axes_list is None:
axes_list = self.robot.hh_axes_list
self.set_speed_par(self.robot.defaultspeed)
self.set_acc_par(self.robot.defaultacceleration)
self.last_trgt_irc = None
for a in axes_list:
self.send_cmd('HH' + a + ':\n')
self.wait_ready()
def soft_home(self, axes_list=None):
"""
Robot soft homing. Returns joints in axes_list to home position.
:param axes_list: List of joints to home.
"""
if axes_list is None:
axes_list = self.robot.hh_axes_list
self.setup_coordmv()
if hasattr(self.robot, 'shdeg'):
self.coordmv(self.anglestoirc(np.array(self.robot.shdeg)))
else:
self.coordmv(self.anglestoirc(np.array(self.robot.hhdeg)))
self.wait_ready()
def query(self, query):
"""
Send query to control unit.
:param query: Query to send.
:return: Control unit's response.
"""
buf = '\n'
self.send_cmd('\n' + query + '?\n')
while True:
buf += self.read_resp(1024)
i = buf.find('\n' + query + '=')
if i < 0:
continue
j = buf[i+1:].find('\n')
if j != -1:
break
if buf[i+1+j-1] == '\r':
j -= 1
res = buf[i+2+len(query):i+1+j]
return res
def command(self, command):
"""
Send command to control unit.
:param command: Command to send
"""
self.send_cmd(command + ':\n')
def find_closest_ikt(self, pos, prev_pos=None):
"""
Find closest configuration to previous position of home position.
:param pos: Coordinates of position to move to, specified in world coordinates.
:param prev_pos: Previous position of robot.
:return: Coordinates of closest position in IRC or None if there isn't any position reachable
"""
a = self.robot.ikt(self.robot, pos)
num = None
min_dist = float('Inf')
if hasattr(self.robot, 'shdeg'):
prev_pos = self.anglestoirc(np.array(self.robot.shdeg)) if prev_pos is None else prev_pos
else:
prev_pos = self.anglestoirc(np.array(self.robot.hhdeg)) if prev_pos is None else prev_pos
for i in range(len(a)):
irc = self.anglestoirc(a[i])
validm = irc > self.robot.bound[0]
validp = irc < self.robot.bound[1]
valid = np.logical_and(validm, validp)
if np.all(valid):
dist = np.linalg.norm(np.array(irc) - prev_pos)
if dist < min_dist:
min_dist = dist
num = i
if num is None:
raise ValueError("Position is unreachable!")
irc = self.anglestoirc(a[num])
return irc
def move_to_pos(self, irc, relative=False):
"""
Move robot to coordinates stated in IRC using coordinated movement.
:param irc: joint coordinates in IRC
:param relative: Boolean, whether the movement is relative to previous position.
"""
if self.last_trgt_irc is None:
relative = False
if relative:
prev_irc = self.last_trgt_irc
irc = list(irc - prev_irc)
self.coordmv(irc, relative=relative)
def wait_ready(self, sync=False):
"""
Wait for control unit to be ready.
:param sync: Boolean, whether to synchronize with control unit.
"""
buf = '\n'
if sync:
self.sync_cmd_fifo()
print('Synchronized!')
self.send_cmd("\nR:\n")
while True:
buf += self.read_resp(1024)
if buf.find('\nR!') >= 0:
return True
if buf.find('\nFAIL!') >= 0:
return False
def wait_gripper_ready(self):
"""
Wait for gripper to be ready.
"""
if not hasattr(self.robot, 'gripper_ax'):
raise Exception('This robot has no gripper_ax defined.')
self.send_cmd('\nR%s:\n'%self.robot.gripper_ax)
self.rcon.timeout = 2
s = self.read_resp(1024)
self.rcon.timeout = 0.01
if s.find('R%s!\r\n' % self.robot.gripper_ax) >= 0:
last = float('inf')
while True:
self.send_cmd('AP%s?\n'%self.robot.gripper_ax)
s = self.read_resp(1024)
if s.find('\nFAIL!') >= 0:
raise Exception('Command \'AP\' returned \'FAIL!\n')
ifs = s.find('AP%s=' % self.robot.gripper_ax)
if ifs >= 0:
ifl = s.find('\r\n')
p = float(s[ifs+4:ifl])
if abs(last - p) < self.robot.gripper_poll_diff:
break
last = p
time.sleep(self.robot.gripper_poll_time/100)
elif s.find('\nFAIL!') >= 0:
self.wait_ready()
raise Exception('Command \'R:%s\' returned \'FAIL!\''%self.robot.gripper_ax)
def open_comm(self, tty_dev, speed=19200):
"""
Open serial communication port.
:param tty_dev: Device to open.
:param speed: Baud rate of serial communication.
"""
print("Opening %s ...\n" % tty_dev)
ser = serial.Serial(tty_dev,
baudrate=speed,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
rtscts=True,
timeout=0.01)
self.set_rcon(ser)
self.init_communication()
def release(self):
"""
Release errors and reset control unit.
"""
self.send_cmd("RELEASE:\n")
def init(self, **kwargs):
"""
Initialize commander. Initialize robot and perform homing.
:param kwargs: Parameters for initialisation.
"""
self.init_robot()
reg_type = kwargs.get('reg_type', None)
max_speed = kwargs.get('max_speed', None)
hard_home = kwargs.get('hard_home', True)
if reg_type is not None:
self.send_cmd("RELEASE:\n")
self.set_int_param_for_axes(param='REGTYPE', val=reg_type)
if max_speed is not None:
self.set_max_speed(val=max_speed)
if hard_home:
print("Running home")
self.hard_home()
self.soft_home()
print("Hard and soft home done!")
def reset_motors(self):
"""
Reset motors of robot.
"""
self.send_cmd("PURGE:\n")